02 Robot1 Assembly Instructions

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Lab 02 Robot 1 Assembly Instructions
16-384
Carnegie Mellon University
Prof. Howie Choset

1

Contents
1 Bill of Materials

3

2 Assembly Steps
4
2.1 Mechanical Assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2.2 Electrical Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

2

1

Bill of Materials

No.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21

Table 1: Bill of Materials
Desciption
Quantity
Hebi X Series Actuator
2
1 inch or 25 mm 80/20 T-Slot Aluminum Extrusion
1
Clamp
2
Hebi T-Slot Adapter (PM-2156-25)
1
M5x0.8x10 Flat-Head Socket Head Cap Screw
4
80/20 T-Nut for 1 inch or 25 mm T-Slot Extrusion
4
80/20 Screw for 1 inch or 25 mm T-Slot Extrusion
4
M5x0.8x16 Screw
12
Hebi Output Tube Adapter (A-2038-01)
2
M5x0.8x10 Screw
12
Hebi Housing Tube Mount (A-2039-01)
1
M5x0.8x8 Screw
6
0.55 meter x 32 mm Diameter Tube
1
0.3 meter x 32 mm Diameter Tube
1
Ethernet Cable
4
18-50V AC-DC Converter and Wall Adapter
1
Emergency Stop
1
Hebi Power Cables
As Needed
Hebi Male-to-Male Power Adapter
As Needed
Hebi Power Cable Splitter
1
Internet Router
1

3

2
2.1

Assembly Steps
Mechanical Assembly

5

4

1

Figure 1: Attaching the a Hebi Actuator to the T-Slot Adapter

4

7

2

6

Figure 2: Attaching the Assembly in Fig. 1 to Aluminum Extrusion

5

5

9

Figure 3: Attaching the Bottom Half of an Output Tube Adapter

6

85
9

9

13

Figure 4: Attaching the Robot’s First Link

7

12
11

1

Figure 5: Attaching the Tube Mount to the Second Hebi Actuator

8

10

9

Figure 6: Attaching the Bottom Half of an Output Tube Adapter to the Assembly in Fig. 5

11
8

Figure 7: Attaching the Assembly in Fig. 6 to the Assembly in Fig. 4

9

8
9
14

Figure 8: Attaching the Second Link to the Assembly in Fig. 7

2.2

Electrical Connections
15
From Ethernet Port

21

Ethernet Cable

Router

18, 19
18, 19

From Wall
Power

17

16

E Stop

AC-DC

Power Cables and
Adapters

1st Hebi
Actuator
(1)

Power Cables and
Adapters

20

15

Splitter

Ethernet Cable

18, 19
Power Cables and
Adapters

2nd Hebi
Actuator
(1)

Figure 9: Electrical Connections Overview

10

Figure 10: Electrical Connections on the Hebi Actuator

11
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